Autonomous Vehicle Yaw Rate Sensor Error Correction
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Solution Overview
Problem
Conventional autonomous vehicle navigation systems, relying on dead reckoning and yaw rate sensors, face errors in position estimation and trajectory tracking, especially at complex intersections or with sensor offset errors, leading to incorrect route generation and vehicle shifting issues.
Innovation Solution
A traveling control system for autonomous vehicles that incorporates a 2D LIDAR sensor, wheel speed sensors, and an error corrector to detect and correct yaw rate sensor errors by determining a straight-line situation, accumulating LIDAR points, and calculating offset correction parameters to automatically adjust the yaw rate sensor.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If dead reckoning navigation is used for autonomous vehicle position recognition, then navigation cost is reduced and basic navigation functionality is achieved, but position estimation accuracy deteriorates and trajectory tracking errors occur
Solution Approach 1:
The patent implements a feedback mechanism where LIDAR point cloud data is continuously accumulated and compared against the vehicle's estimated trajectory. The system calculates lateral distance deviations from straight-line paths and uses this feedback to generate offset correction parameters that adjust yaw rate sensor readings, thereby compensating for accumulated navigation errors in cost-effective dead reckoning systems
Solution Approach 2:
The patent replaces expensive inertial navigation systems with a substituted approach using LIDAR point cloud processing and statistical analysis. Instead of relying on high-cost hardware, the system uses optical sensing data combined with mathematical modeling to achieve accurate position recognition and trajectory correction
2Ease of operation
If yaw rate sensor data is used for trajectory tracking, then vehicle orientation control is achieved, but sensor offset errors cause position shifting and incorrect route generation
Solution Approach 1:
The patent enables the navigation system to self-correct by automatically detecting yaw rate sensor offsets through LIDAR point cloud analysis and generating correction parameters without external intervention. The system monitors its own trajectory deviations and autonomously adjusts sensor calibration, making the operation more reliable across different mounting positions and vehicle models
Solution Approach 2:
The patent dynamically changes the operational parameters of the yaw rate sensor by applying offset correction values derived from LIDAR point cloud analysis. This parameter adjustment compensates for sensor errors caused by varying mounting positions, vehicle models, and operational conditions, maintaining reliable position accuracy
3Measurement precision
If precise map and GPS are used for position recognition, then position accuracy is improved, but system complexity and equipment cost increase
Solution Approach 1:
The patent extracts and utilizes straight-line trajectory information from accumulated LIDAR point cloud data to create a virtual reference path. By isolating and analyzing this specific geometric feature, the system achieves position recognition accuracy comparable to precise map methods without requiring complex external infrastructure or expensive equipment
Data Source
AI summary
A traveling control system of an autonomous vehicle includes a 2D LIDAR sensor, a wheel speed sensor for detecting a speed of the vehicle, a yaw rate sensor for detecting a rotational angular speed of the vehicle, and an error corrector for determining a straight-line situation using a LIDAR point detected by the 2D LIDAR sensor, extracting a straight lateral distance value according to the result of determination, accumulating the LIDAR point according to the trajectory of traveling of the vehicle detected by the wheel speed sensor and the yaw rate sensor, estimating an error between the accumulated point and the extracted straight line, and calculating and feeding back an offset correction parameter of the yaw rate sensor when the estimated error value is greater than a predetermined threshold value to automatically correct an error parameter of the yaw rate sensor.